version: 66.04
glider: 166
mission: 2
dive: 131
start: 6 13 109 4 35 17
data:
$ID,166
$MISSION,2
$DIVE,131
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51956
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7686.1152
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.273609
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043153614
$SEABIRD_T_H,0.00063164165
$SEABIRD_T_I,2.3580644e-05
$SEABIRD_T_J,2.4654264e-06
$SEABIRD_C_G,-9.9826469
$SEABIRD_C_H,1.1204658
$SEABIRD_C_I,-0.0010752195
$SEABIRD_C_J,0.00016642714
$GPS1,042236,2429.904,12318.648,35,1.0,41,-3.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-70.5
$GPS2,043456,2430.100,12318.759,13,1.3,13,-3.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,RET_1
$TGT_LATLONG,2407.200,12312.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,199.6,43793,-16.8,-10.000
$D_GRID,876
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.90,-170.3,0.0,0.0,0,101,0.00,0.00,-83.47,0.000,2,0.000,0.000,165,1486,2442
$GC,103,-0.90,-170.3,3.4,-6.0,13,149,8.85,2.12,-30.12,0.000,4,0.225,0.050,2434,2902,3559
$GC,263,-0.17,-170.3,45.0,-30.7,40,271,0.77,2.10,0.00,0.000,6,0.156,0.031,2679,1487,3560
$GC,608,-0.46,-170.3,76.2,-6.3,101,614,0.22,0.00,0.00,0.000,6,0.049,0.000,2567,1487,3561
$GC,951,-0.32,-170.3,130.9,-14.6,162,959,0.20,1.92,0.00,0.000,4,0.133,0.041,2631,206,3561
$GC,1050,-0.52,-170.3,140.3,-8.5,179,1057,0.15,1.88,0.00,0.000,6,0.048,0.027,2549,1526,3560
$GC,1395,-0.46,-170.3,184.7,-11.9,240,1402,0.15,1.98,0.00,0.000,4,0.135,0.038,2590,2886,3561
$GC,1431,-0.65,-170.3,188.2,-8.6,246,1440,0.15,2.03,0.00,0.000,6,0.041,0.030,2502,1499,3561
$GC,1777,-0.47,-170.3,238.6,-13.6,307,1783,0.22,1.90,0.00,0.000,4,0.137,0.041,2576,210,3561
$GC,1837,-0.59,-170.3,244.5,-8.8,317,1843,0.00,1.80,0.00,0.000,6,0.000,0.027,2574,1493,3561
$GC,2179,-0.79,-170.3,273.3,-8.4,378,2187,0.22,2.03,0.00,0.000,4,0.051,0.038,2462,2884,3560
$GC,2216,-0.62,-170.3,277.8,-14.3,384,2223,0.22,2.03,0.00,0.000,6,0.134,0.031,2538,1506,3560
$GC,2554,-0.67,-170.3,308.9,-8.5,435,2558,0.00,1.92,0.00,0.000,4,0.000,0.045,2530,204,3560
$GC,2603,-0.67,-170.3,313.9,-9.7,439,2610,0.00,1.88,0.00,0.000,6,0.000,0.028,2528,1497,3560
$GC,2928,-0.74,-170.3,342.5,-9.5,470,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1498,3558
$GC,3248,-0.82,-170.3,373.9,-9.7,500,3250,0.15,0.00,0.00,0.000,6,0.064,0.000,2452,1499,3556
$GC,3565,-0.64,-170.3,418.7,-13.7,530,3567,0.25,0.00,0.00,0.000,6,0.136,0.000,2528,1499,3554
$GC,3885,-0.77,-170.3,444.4,-7.9,560,3889,0.12,2.08,0.00,0.000,4,0.071,0.044,2461,2888,3552
$GC,3919,-0.77,-170.3,447.8,-10.7,563,3923,0.00,2.05,0.00,0.000,6,0.000,0.036,2470,1497,3552
$GC,4249,-0.65,-170.3,489.8,-12.7,594,4253,0.17,1.95,0.00,0.000,4,0.183,0.050,2528,203,3549
$GC,4320,-0.71,-170.3,497.3,-10.0,600,4327,0.00,1.90,0.00,0.000,6,0.000,0.032,2515,1491,3548
$GC,4648,-0.81,-170.3,525.2,-7.8,618,4653,0.10,2.10,0.00,0.000,4,0.080,0.046,2456,2899,3546
$GC,4703,-0.81,-170.3,530.2,-8.8,620,4710,0.00,2.10,0.00,0.000,6,0.000,0.041,2458,1501,3545
$GC,5019,-0.72,-170.3,558.8,-8.6,636,5023,0.17,1.95,0.00,0.000,4,0.137,0.051,2521,207,3543
$GC,5096,-0.82,-170.3,563.8,-5.9,639,5100,0.12,1.90,0.00,0.000,6,0.073,0.035,2458,1509,3542
$GC,5418,-0.75,-170.3,596.1,-11.4,655,5422,0.15,2.10,0.00,0.000,4,0.141,0.049,2496,2904,3540
$GC,5473,-0.91,-170.3,600.8,-7.8,657,5477,0.15,2.08,0.00,0.000,6,0.061,0.039,2424,1504,3540
$GC,5795,-0.73,-170.3,642.3,-12.9,673,5799,0.22,1.98,0.00,0.000,4,0.143,0.054,2498,201,3537
$GC,5850,-0.78,-170.3,648.2,-9.6,675,5854,0.00,1.90,0.00,0.000,6,0.000,0.036,2495,1497,3536
$GC,6172,-0.87,-170.3,673.0,-7.5,691,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1498,3534
$GC,6481,-0.95,-170.3,700.0,-8.8,706,6486,0.17,2.12,0.00,0.000,4,0.062,0.051,2412,2908,3532
$GC,6521,-0.82,-170.3,704.5,-12.0,707,6528,0.20,2.10,0.00,0.000,6,0.138,0.041,2472,1497,3531
$GC,6837,-0.82,-170.3,734.6,-9.3,723,6840,0.00,1.98,0.00,0.000,4,0.000,0.056,2472,199,3530
$GC,6869,-0.82,-170.3,738.2,-10.8,724,6874,0.00,1.95,0.00,0.000,6,0.000,0.038,2468,1496,3529
$GC,7191,-0.82,-170.3,771.2,-9.4,740,7194,0.00,2.12,0.00,0.000,4,0.000,0.053,2467,2897,3528
$GC,7238,-0.93,-170.3,775.2,-9.2,742,7242,0.00,2.10,0.00,0.000,6,0.000,0.042,2467,1497,3528
$GC,7570,-0.93,-170.3,804.2,-8.4,758,7574,0.00,2.15,0.00,0.000,4,0.000,0.054,2469,2901,3526
$GC,7608,-1.03,-170.3,807.5,-8.4,759,7615,0.17,2.10,0.00,0.000,6,0.060,0.042,2389,1499,3526
$GC,7925,-0.79,-170.3,849.7,-14.0,775,7930,0.28,2.00,0.00,0.000,4,0.147,0.056,2479,198,3524
$GC,8042,-0.79,-170.3,861.7,-9.5,780,8046,0.00,1.98,0.00,0.000,6,0.000,0.040,2476,1499,3524
$STATE,8222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8222,begin apogee
$GC,8226,-0.20,0.0,876.8,8.2,789,8369,0.60,0.00,138.18,1.406,6,0.117,0.000,2675,1761,2863
$STATE,8369,end apogee,CONTROL_FINISHED_OK
$STATE,8369,begin climb
$GC,8371,0.90,170.3,881.4,0.0,796,8524,0.95,0.00,148.15,1.355,6,0.039,0.000,3051,1761,2168
$GC,8823,0.34,170.3,814.7,18.7,818,8828,0.68,2.25,0.00,0.000,4,0.166,0.056,2857,347,2161
$GC,8872,0.45,170.3,808.6,10.0,820,8877,0.00,2.15,0.00,0.000,6,0.000,0.041,2857,1728,2161
$GC,9194,0.59,212.4,780.8,8.3,836,9236,0.20,2.35,35.97,1.307,4,0.058,0.056,2943,3155,1997
$GC,9275,0.39,212.4,770.5,13.3,839,9283,0.32,2.25,0.00,0.000,6,0.150,0.041,2865,1711,1993
$GC,9591,0.53,236.5,743.0,9.0,855,9618,0.15,2.20,21.30,1.270,4,0.065,0.058,2945,339,1898
$GC,9690,0.38,236.5,727.8,17.8,859,9695,0.22,2.17,0.00,0.000,6,0.136,0.041,2864,1734,1895
$GC,10012,0.62,312.5,692.6,7.0,875,10085,0.22,2.28,66.88,1.281,4,0.053,0.056,2970,339,1588
$GC,10117,0.42,312.5,680.0,15.2,880,10122,0.28,2.20,0.00,0.000,6,0.136,0.041,2876,1726,1584
$GC,10444,0.59,312.5,641.5,13.0,896,10449,0.15,2.17,0.00,0.000,4,0.063,0.054,2956,341,1580
$GC,10506,0.48,312.5,631.0,18.4,899,10511,0.22,2.10,0.00,0.000,6,0.138,0.041,2891,1722,1579
$GC,10833,0.60,312.5,593.8,11.0,915,10837,0.12,2.15,0.00,0.000,4,0.068,0.055,2960,340,1578
$GC,10894,0.48,312.5,584.3,17.3,918,10898,0.22,2.08,0.00,0.000,6,0.142,0.041,2895,1717,1577
$GC,11219,0.59,312.5,541.3,12.3,934,11224,0.10,2.15,0.00,0.000,4,0.078,0.055,2955,329,1577
$GC,11285,0.52,312.5,531.3,16.4,937,11290,0.15,2.10,0.00,0.000,6,0.135,0.041,2906,1707,1576
$GC,11603,0.61,312.5,493.0,12.1,955,11607,0.00,2.12,0.00,0.000,4,0.000,0.055,2914,329,1576
$GC,11675,0.68,312.5,483.6,12.8,961,11682,0.12,2.03,0.00,0.000,6,0.075,0.041,2969,1689,1576
$GC,12000,0.53,312.5,432.2,16.2,992,12005,0.20,2.22,0.00,0.000,4,0.146,0.051,2907,3149,1576
$GC,12055,0.65,312.5,424.9,12.6,996,12061,0.00,2.22,0.00,0.000,6,0.000,0.041,2918,1687,1575
$GC,12381,0.72,312.5,390.2,10.7,1027,12385,0.15,2.08,0.00,0.000,4,0.064,0.054,2997,329,1575
$GC,12426,0.51,312.5,383.2,16.9,1031,12431,0.32,2.03,0.00,0.000,6,0.142,0.040,2901,1694,1575
$GC,12755,0.71,336.5,348.0,9.1,1062,12781,0.20,2.30,19.70,1.028,4,0.055,0.051,2996,3154,1490
$GC,12877,0.56,336.5,326.8,19.4,1072,12884,0.30,2.20,0.00,0.000,6,0.142,0.040,2918,1696,1487
$GC,13208,0.71,336.5,285.8,10.6,1114,13215,0.15,2.08,0.00,0.000,4,0.062,0.051,2995,333,1486
$GC,13323,0.58,336.5,267.9,15.9,1134,13330,0.25,2.05,0.00,0.000,6,0.139,0.038,2923,1717,1486
$GC,13669,0.82,400.0,236.9,7.5,1195,13732,0.20,2.20,54.50,0.935,4,0.054,0.051,3034,330,1232
$GC,13801,0.62,400.0,217.0,16.6,1217,13807,0.32,2.05,0.00,0.000,6,0.139,0.036,2940,1692,1228
$GC,14145,0.88,423.5,184.1,9.1,1278,14173,0.20,2.17,21.20,0.855,4,0.052,0.050,3051,336,1135
$GC,14243,0.68,423.5,166.6,19.3,1294,14249,0.30,2.03,0.00,0.000,6,0.135,0.035,2963,1696,1132
$GC,14587,0.99,440.3,126.5,9.3,1355,14609,0.22,2.15,15.68,0.784,4,0.048,0.048,3084,339,1067
$GC,14714,0.77,440.3,103.3,19.8,1376,14721,0.28,1.95,0.00,0.000,6,0.133,0.033,2983,1644,1064
$GC,15057,1.18,508.4,70.0,7.3,1437,15122,0.32,2.10,58.08,0.749,4,0.041,0.045,3151,337,789
$GC,15251,0.92,508.4,30.2,21.8,1470,15258,0.35,1.92,0.00,0.000,6,0.137,0.031,3042,1628,786
$STATE,15510,end climb,SURFACE_DEPTH_REACHED
$STATE,15510,begin surface coast
$FINISH,0.8,1.011343
$STATE,15544,end surface coast,CONTROL_FINISHED_OK
$STATE,15545,begin surface
$SM_CCo,15620,0.00,0.000,0,0,783,509.98
$SM_GC,1.74,7.65,0.00,0.00,0.041,0.000,0.000,158,1480,783,-8.03,-0.57,509.98
$IRIDIUM_FIX,2422.84,12318.41,070998,040412
$TT8_MAMPS,0.026845
$HUMID,1515
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,24.80
$XPDR_PINGS,111
$24V_AH,23.7,30.896
$10V_AH,10.7,19.314
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.775,137.325,579.625,0.000,0.000,76.205,101.920,311.413,34.750,0.000,0.000,13.437,2696.902,9201.871,710.641,3013.111,726.720,0.000,2058.017,0.000,2984.402,0.000,47.755,0.000
$DEVICE_MAMPS,224.731,57.525,1405.911,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.023,1051.134,1768.063,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88552,1522
$CAP_FILE_SIZE,173007,0
$CFSIZE,260165632,224231424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025, 73.5,1
$GPS,130609,085636,2427.835,12318.080,26,1.1,26,-3.5